Chapter 3

Torsion
Tran Dinh Long
3.1 INTRODUCTION

FIG. 3-1 Torsion of a screwdriver

due to a torque T applied to the
handle
Moment of Couples P1 and P2 are replaced FIG. 3-2 Circular bar subjected to
by both arrows are parallel to the axis of torsion by torques T1 and T2
the bar by the right-hand rule.
• Torsion refers to the twisting of a straight bar when it is
loaded by moments (or torques) that tend to produce
rotation about the longitudinal
axis of the bar.
• Moments that produce twisting of a bar are called
torques or twisting moments.
• Cylindrical members that are subjected to torques and
transmit power through rotation are called shafts
3.2 TORSIONAL DEFORMATIONS OF A
CIRCULAR BAR
Since every cross section is subjected to the same internal torque T, we say that
the bar is in pure torsion

FIG. 3-3 Deformations of a circular bar in pure torsion

φ is the angle of twist
the angle φ(x) will vary linearly between the ends
when the torque T is the same
Shear Strains at
the Outer Surface
bb ' r.dφ
γ max
= =
dx dx
Rate of twist = angle of twist FIG. 3-4 Deformation of an element of
length dx cut from a bar in torsion
per unit length
dφ φ
θ = Pure torsion θ =
dx (3.1) L
r.φ
γ max = r.θ (3.2) γ max = (3.3)
L
ρ
Shear Strains Within the Bar γ
= ρ=
.θ .γ max (3.4)
r
3.3 CIRCULAR BARS OF LINEARLY
ELASTIC MATERIALS
Hooke’s law in shear
τ = G.γ (3.5)
τ = G.ρ .θ (3.6)
τ max = G. r .θ (3.7)

FIG. 3-6 Shear stresses in a circular bar in

torsion
Shear stress in circular bar σ
τ τ
450
τ
τ τ
σ
τ
τ
450
τ
FIG. 3-8 Stress on inclined plane

Equilibrium of the element

σ . A1 2τ . A.cos 45
= = 
⇒σ τ
FIG. 3-7 Longitudinal and transverse
shear stresses in a circular bar subjected
to torsion FIG. 3-9 Tension and compression stresses
The Torsion Formula
dM = ρ .τ .dA (3.8)
τ = G.ρ .θ (3.6)
dM = ρ 2 G θ .dA (3.9) FIG. 3-10 Determination of the
resultant of the shear stresses
acting on a cross section
τ
= ∫= G θ ∫ ρ= θ .I P
G= (3.10)
2
T dM .dA IP
A A
ρ

∫ .dA
ρ (3.12)
T IP =
τ = ρ
2

IP
(3.11)
A

IP : Polar moment of inertia

Polar moment of inertia For Circular Tubes Cross Section
For Solid Circular Cross Section

FIG. 3-11 Solid Circular Cross Section FIG. 3-12 Circular Tube Cross Section
π ( r24 − r14 ) π ( d 24 − d14 )
π r4 πd4 =IP =
=
IP = (3.13) 2 32
2 32 (3.15)
T
τ max = .r2 (3.16)
T 16T IP
τ= = .r (3.14)
max
IP πd3 T
τ min =
IP
.r1
(3.17)
Angle of Twist
Rate of Twist: from(3.6) and (3.11) we have
T
θ = (3.18) GIP known as torsional rigidity of the bar
GI P
Angle of Twist for a pure torsion bar
TL
φ θ=
= .L
GI P (3.19) GIP/L known as torsional stiffness

Angle of Twist for a bar in Continuously Varying Loads or Dimensions

T ( x) L T ( x)
dφ= θ .dx
=
GI P ( x )
dx ⇒ φ= ∫ 0 GI P ( x )
dx (3.20)
Example
Example 3-1 A solid steel shaft ABCDE (Fig. 3-13) having diameter d = 30 mm
turns freely in bearings at points A and E. The shaft is driven by a gear at C,
which applies a torque T2 = 450 Nm in the direction shown in the figure. Gears at
B and D are driven by the shaft and have resisting torques T1 = 275 Nm and T3 =
175 Nm, respectively, acting in the opposite direction to the torque T2. Segments
BC and CD have lengths LBC = 500 mm and LCD = 400 mm, respectively, and the
shear modulus G = 80 GPa.
Determine the maximum shear stress in each part of the shaft and the angle of
twist between gears B and D.

FIG. 3-13 Example 3-1. Steel

shaft in torsion
d = 30 mm; T2 = 450 Nm; T1 = 275 Nm; T3 = 175 Nm
LBC = 500 mm; LCD = 400 mm; G = 80 GPa.
Using cutting section method
for segments BC and CD
TCD= TBC =

IP =

FIG. 3-14 Free-body diagrams for

Example 3-1 τBC = 51.9 MPa
τCD = 33.0 Mpa
TL φBC = -0.0216 rad
φ= φCD = 0.0110 rad
GI P φBD = φBC + φCD = - 0.0106 rad
3.5 STRESSES AND STRAINS IN PURE
SHEAR
Sign convention for shear stress Stresses on Inclined Planes

FIG. 3-16 Stresses inclined plane

σ θ = τ .sin 2θ
FIG. 3-15 Positive shear stress (3.21)
element τ θ = τ .cos 2θ
Strains in Pure Shear

FIG. 3-17 Stress elements oriented at FIG. 3-18 Torsion failure of a brittle
θ = 0 and θ = 45° for pure shear material by tension cracking along a
45° helical surface
Maximum tension/compression normal strain

γ max γ max
ε max = (3.22) ε min = − (3.23)
2 2
3.6 RELATIONSHIP BETWEEN MODULI OF
ELASTICITY E AND G
E
G=
2 (1 + ν ) (3.24)

3.7 TRANSMISSION OF POWER BY

CIRCULAR SHAFTS
P = T .ω (3.25) P is power (w); ω is angular speed (rad/s)
2π nT
P= (3.26) n is angular speed in unit of revolution per
60 minute (rpm)
Example 3-2
A solid steel shaft ABC of 50 mm diameter (Fig. 3-19a) is driven at A by a motor
that transmits 50 kW to the shaft at 10 Hz. The gears at B and C drive machinery
requiring power equal to 35 kW and 15 kW, respectively.
Compute the maximum shear stress τmax in the shaft and the angle of twist φAC
between the motor at A and the gear at C. (Use G = 80 GPa.)

FIG. 3-19 Example 3-8. Steel shaft in torsion

d= 50 mm; PA = 50 kW f= 10 Hz; PB = 35 kW; PC = 15 kW,
τmax =? ; φAC = ? ; G = 80 GPa

TA = TB = TC =

TAB = TBC = φ AB = φBC =

τmax = 32.4 Mpa; φAC = 0.0220 rad

3.8 STATICALLY INDETERMINATE
TORSIONAL MEMBERS
The equation of equilibrium
T1 + T2 =
T

The equation of compatibility

φ1 = φ2

=
T1 L
=
T2 L (T1 + T2 ) L
FIG. 3-20 Statically indeterminate G1 I P1 G2 I P 2 G1 I P1 + G2 I P 2
bar in torsion
The equation of equilibrium
T1 + T2 =
T0

The equation of compatibility

φA =φB = 0 ⇒ φ AB = φ AC + φCB =0
⇒ φ1 + φ2 = 0
FIG. 3-21 Nonuniform torsion bar TA LA −TB LB
fixed at both ends + =
0
G A I PA GB I PB

TA TB T0
= =
G A I PA GB I PB G A I PA GB I PB
+
LA LB LA LB
3.9 STRAIN ENERGY IN TORSION AND
PURE SHEAR
Tφ
= W
U =
2
(3.27)
T 2L
U =
2GI P (3.28)

Nonuniform torsion
FIG. 3-22 Torque-rotation diagram
for a bar in pure torsion L T 2 ( x)
U = ∫0 2GI P ( x )
dx (3.29)
Example 3-3
A solid circular bar AB of length L is fixed at one end and free at the
other (Fig. 3-23). Torque Ta acting at the free end, torque Tb acting at
the midpoint of the bar.
Obtain a formula for the strain energy stored in the bar. Then
evaluate the strain energy for the following data: Ta = 100 Nm,
Tb = 150 Nm, L = 1.6 m, G = 80 GPa, and IP = 79.52 ×103 mm4.

U = 4.56 ( J )

FIG. 3-23 Example 3-3. Strain energy

produced by two loads
Ta = 100 Nm, Tb = 150 Nm, L = 1.6 m,
G = 80 GPa, and IP = 79.52 ×103 mm4.
Obtain a formula for the strain energy?
FIG. 3-23 Example 3-3. Strain energy U=?
produced by two loads

TBC = TAB =

UBC = UAB =

U=

U = 4.56 ( J )
Summary
T π r4 πd4
τ = ρ (3.11) =
IP = (3.13)
IP 2 32

σ θ = τ .sin 2θ
(3.21) θ =
T
(3.18)
GI P
τ θ = τ .cos 2θ
L T ( x)
φ θ=
.L
TL
(3.19) φ= ∫0 GI P ( x )
dx (3.20)
GI P
T 2L T 2 ( x)
(3.28) (3.29)
L
U =
2GI P
U = ∫ 0 2GI P ( x )
dx
Assignment
3.2-33.2-5; 3.3-33.3-8; 3.3-133.3-16
3.4-13.4-3; 3.4-73.4-9; 3.4-13
3.5-13.5-3; 3.5-63.5-10; 3.7-3  3.7-6; 3.7-9;
3.8-1; 3.8-2; 3.8-63.8-9; 3.9-2  3.9-4; 3.9-7